Development of instantaneously puncture system for CT fluoroscopy-guided interventional radiology

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

There is minimally invasive method called Interventional Radiology (IR) that achieves an operation by using diagnostic imaging equipment such as Computed Tomography (CT). IR has advantages that it is a minimally invasive method and it is applied widely such as lung cancer treatment, liver cancer treatment, biopsy, and so on. However, it has a problem that doctors are exposed by X-ray due to a procedure in the vicinity of the CT gantry. To solve this problem, we have developed a robot so we calling "Zerobot". Zerobot has six DOF and controlled remotely. We previously conducted animal experiment using a rabbit to evaluate Zerobot. As a result, percutaneous puncture was impossible without epidermis cutting. Therefore, we developed a new function called instantaneously puncture that can achieve high speed and short stroke puncture like a human operator. In this paper, overview of Zerobot is described first. Then, measurement of puncture speed of a human operator is described. Furthermore, design and system structure of instantaneously puncture system is described. Finally, we present results of animal experiment using the instantaneously puncture system.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2369-2374
Number of pages6
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Heya, A., Kamegawa, T., Matsuno, T., Hiraki, T., & Gofuku, A. (2016). Development of instantaneously puncture system for CT fluoroscopy-guided interventional radiology. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 2369-2374). [7759369] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759369